void UserApp::onUser( nite::UserTrackerFrameRef frame, const OpenNI::DeviceOptions& deviceOptions )
{
mChannel = OpenNI::toChannel16u( frame.getDepthFrame() );
mUsers = OpenNI::toVector( frame.getUsers() );
for ( vector<nite::UserData>::iterator iter = mUsers.begin(); iter != mUsers.end(); ++iter ) {
if ( iter->isNew() ) {
mDevice->getUserTracker().startSkeletonTracking( iter->getId() );
} else if ( iter->isLost() ) {
mDevice->getUserTracker().stopSkeletonTracking( iter->getId() );
}
}
}
void drawUser( nite::UserTrackerFrameRef& userFrame, cv::Mat& image )
{
openni::VideoFrameRef depthFrame = userFrame.getDepthFrame();
if ( depthFrame.isValid() ) {
openni::VideoMode videoMode = depthFrame.getVideoMode();
// cv::MatでUserMapを取得する
cv::Mat pMapLabel = cv::Mat( videoMode.getResolutionY(),
videoMode.getResolutionX(),
CV_16SC1,
(short*) userFrame.getUserMap().getPixels());
pMapLabel.convertTo(pMapLabel,CV_8UC1);
// 見つけた人に色をつけるよ
for(int i = 0; i < 6; i++){
cv::Mat mask;
cv::compare(pMapLabel, i+1, mask, CV_CMP_EQ);
cv::add(image, colors[i], image, mask);
}
}
}
void drawSkeleton( nite::UserTrackerFrameRef& userFrame,
nite::UserTracker& userTracker,
cv::Mat& image)
{
const nite::Array<nite::UserData>& users = userFrame.getUsers();
for ( int i = 0; i < users.getSize(); ++i ) {
const nite::UserData& user = users[i];
if ( user.isNew() ) {
userTracker.startSkeletonTracking( user.getId() );
userTracker.startPoseDetection( user.getId(), nite::POSE_PSI);
userTracker.startPoseDetection( user.getId(), nite::POSE_CROSSED_HANDS);
}
else if ( !user.isLost() ) {
// skeletonの表示
const auto skeleton = user.getSkeleton();
if ( skeleton.getState() == nite::SkeletonState::SKELETON_TRACKED ) {
for ( int j = 0; j < 15; j++ ) {
const auto joint = skeleton.getJoint((nite::JointType)j);
if ( joint.getPositionConfidence() >= 0.7f ) {
const auto position = joint.getPosition();
float x = 0, y = 0;
userTracker.convertJointCoordinatesToDepth(
position.x, position.y, position.z, &x, &y );
cv::circle( image, cvPoint( (int)x, (int)y ),
3, cv::Scalar( 0, 0, 255 ), 5 );
}
}
}
// poseの表示
const auto pose_psi = user.getPose(nite::POSE_PSI);
if( pose_psi.isHeld() || pose_psi.isEntered() )
{
auto center = user.getCenterOfMass();
float x = 0, y = 0;
userTracker.convertJointCoordinatesToDepth(center.x, center.y, center.z, &x, &y);
cv::putText(image, "PSI", cv::Point2f(x,y), cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(0xFF,0xFF,0xFF));
}
const auto pose_cross = user.getPose(nite::POSE_CROSSED_HANDS);
if( pose_cross.isHeld() || pose_cross.isEntered() ){
auto center = user.getCenterOfMass();
float x = 0, y = 0;
userTracker.convertJointCoordinatesToDepth(center.x, center.y, center.z, &x, &y);
cv::putText(image, "Cross", cv::Point2f(x,y), cv::FONT_HERSHEY_COMPLEX, 2, cv::Scalar(0xFF,0xFF,0xFF));
}
}
}
}
/*
depthの生データをグレイスケールの画像にする。
CV_8UC3で返すよ
*/
cv::Mat depthToImage( nite::UserTrackerFrameRef& userFrame )
{
cv::Mat depthImage;
openni::VideoFrameRef depthFrame = userFrame.getDepthFrame();
if ( depthFrame.isValid() ) {
// Depthの情報をdepthImageに
openni::VideoMode videoMode = depthFrame.getVideoMode();
depthImage = cv::Mat( videoMode.getResolutionY(),
videoMode.getResolutionX(),
CV_16SC1,
(short*) depthFrame.getData() );
// depthImageを表示向きのCV_8UC3に変更。
depthImage.convertTo(depthImage, CV_8UC1, 255.0/10000);
cv::cvtColor(depthImage, depthImage, CV_GRAY2BGR);
}
return depthImage;
}
